CN109856659B - Seabed-based positioning time service and data recovery system and method - Google Patents
Seabed-based positioning time service and data recovery system and method Download PDFInfo
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- CN109856659B CN109856659B CN201910051942.5A CN201910051942A CN109856659B CN 109856659 B CN109856659 B CN 109856659B CN 201910051942 A CN201910051942 A CN 201910051942A CN 109856659 B CN109856659 B CN 109856659B
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Abstract
The invention provides a seabed-based positioning time service and data recovery system and a seabed-based positioning time service and data recovery method, wherein the system comprises a positioning time service device, an underwater vehicle and a seabed base; the positioning time service device is used for sending initial position information and time service information of the underwater vehicle to the underwater navigation device and receiving observation data acquired by a seabed base; the underwater vehicle is used for receiving initial position information and time service information of the underwater vehicle, sailing above the seabed base according to the initial position information, carrying out time service on each seabed base according to the time service information, and meanwhile, obtaining observation data collected by the seabed base; the seabed base is used for collecting observation data in a preset range. According to the invention, the underwater vehicle is used for realizing data recovery at any time, so that the phenomenon that the acquisition period of seabed-based observation data is too long is avoided; the position deviation of the seabed base on the seabed is quickly found and calibrated through the acoustic positioning module, and the time deviation of the seabed base generated in the seabed operation process for a long time is calibrated through the acoustic communication module.
Description
Technical Field
The invention relates to the technical field of ocean observation, in particular to a seabed-based positioning time service and data recovery system and method based on an underwater vehicle.
Background
The traditional deep and far sea seabed in-situ observation usually uses a self-contained seabed base, the seabed base comprises a mechanical structure, a control module, a data storage module, a storage battery, a plurality of sensors and the like, the control module, the data storage module and the sensors are all powered by the storage battery, and data collected by the sensors are stored in the data storage module. Once deployed to a designated station, the seabed base begins to operate in a self-contained mode, and the data collected during this time period is not available until it is recovered from the seabed the next time.
The main problems of the existing self-contained seabed base are as follows: firstly, the seabed is in an unobservable and uncontrollable state during operation, the observation data acquisition period is too long, the data can be acquired only after being recovered, and the abnormal condition is difficult to find in time. Secondly, the seabed base is gradually displaced under natural or artificial external force such as seabed geological activity, deposition migration or fishery trawling and the like sometimes, and deviates from the original distribution point by a long distance under the long-term action, so that the seabed base is difficult to find during recovery. Finally, when the seabed base operates, the collected data can generate larger time deviation because the seabed base does not provide time service for the seabed base for a long time, and the effectiveness of the data is greatly reduced.
Therefore, to solve the above problems, a seabed-based positioning time service and data recovery system and method are needed.
Disclosure of Invention
In view of the above problems, the present invention aims to provide a seabed base positioning time service and data recovery method and system based on an underwater vehicle, which realize periodic position update and time calibration of a self-contained seabed base and obtain observation data acquired by the self-contained seabed base.
In order to solve the technical problems, the invention provides a seabed-based positioning time service and data recovery system and a seabed-based positioning time service and data recovery method.
According to one aspect of the invention, there is provided a seabed-based positioning time service and data recovery system, comprising: the positioning and time service device, the underwater vehicle and the seabed base;
the positioning time service device is used for sending initial position information and time service information of the underwater vehicle to the underwater navigation device and receiving observation data acquired by the seabed base;
the underwater vehicle is used for receiving initial position information and time service information of the underwater vehicle, sailing to the position above the seabed base according to the initial position information, carrying out time service on the seabed base according to the time service information, and meanwhile, obtaining observation data collected by the seabed base;
the seabed base is used for collecting observation data in a preset range.
Preferably, the underwater vehicle comprises a microcontroller, and a Beidou positioning module, an inertial navigation module, an acoustic positioning module and a data storage module which are respectively connected with the microcontroller;
the Beidou positioning module is used for receiving the initial position information of the underwater vehicle sent by the positioning and time service device and transmitting the initial position information to the microcontroller;
the inertial navigation module is used for calculating real-time displacement information of the underwater vehicle according to the initial position information in the microcontroller and transmitting the real-time displacement information to the microcontroller;
the microcontroller is used for calculating real-time position information of the underwater vehicle according to the initial position information and the real-time displacement information, and planning a navigation route of the underwater vehicle navigating to the seabed base according to the real-time position information and the predicted position information of the seabed base;
the acoustic positioning module is used for positioning the actual position of the seabed base according to a positioning protocol so as to obtain the actual position information of the seabed base and transmitting the actual position information to the microcontroller;
the data storage module is used for storing initial position information and real-time position information of the underwater vehicle, preset position information and actual position information of the seabed base, and simultaneously is also used for storing observation data acquired by the seabed base.
Preferably, the positioning protocol comprises:
the underwater vehicle freely moves within a range with the preset distance as a radius by taking the preset position of the seabed as a circle center;
the positioning module periodically transmits an acoustic positioning signal and records real-time position information of the underwater vehicle when the acoustic positioning signal is transmitted;
and judging whether the sound wave response signal fed back by the seabed base is received for three times within preset time, if so, calculating the actual position information of the seabed base according to the time corresponding to the sound wave response signal received for three times and the real-time position information of the underwater vehicle, and transmitting the actual position information to the microcontroller, otherwise, sending a positioning failure signal to the microcontroller.
Preferably, the underwater vehicle further comprises a first acoustic communication module, a clock module and a Beidou communication module which are respectively connected with the microcontroller;
the Beidou communication module is used for receiving the time service information sent by the positioning time service device, transmitting the time service information to the microcontroller and sending observation data acquired by the seabed base to the positioning time service device;
the clock module is used for reading the time service information in the microcontroller and continuing timing based on the time service information to obtain timing information;
the microcontroller is also used for calculating the time service time of the first acoustic communication module for service to the seabed base according to a time service protocol and transmitting the time service time to the first acoustic communication module;
the first acoustic communication module is used for carrying out time service on the seabed base according to the time service protocol and receiving observation data collected by the seabed base.
Preferably, the time service protocol is as follows:
the first acoustic communication module and the second acoustic communication module perform signal transmission for preset times to obtain multiple groups of signal transmission time data, and the multiple groups of signal transmission time data are transmitted to the microcontroller;
the microcontroller processes a plurality of groups of time data for signal transmission to obtain transmission delay time for signal transmission of the first acoustic communication module and the second acoustic communication module, calculates time service time according to the transmission delay time and timing information read by the microcontroller from the clock module, and transmits the time service time to the first acoustic communication module;
the first acoustic communication module sends the time service to the second acoustic communication module;
and the second acoustic communication module transmits the time service time to the seabed base body, and the seabed base body calibrates the local time of the seabed base body according to the time service time.
Preferably, the underwater vehicle further comprises a power module and the power supply module connected to the microcontroller;
the power module is used for providing power for the underwater vehicle;
the power supply module is used for providing electric power for the underwater vehicle.
Preferably, the seabed base comprises a seabed base body and a second acoustic communication module;
the seabed base body is used for collecting observation data in a preset range and transmitting the collected observation data to the second acoustic communication module;
and the second acoustic communication module is used for realizing the seabed-based time service according to the time service protocol and simultaneously sending the observation data to the first acoustic communication module.
Preferably, the positioning and time service device comprises a Beidou satellite.
Preferably, the seabed base comprises a self-contained seabed base.
According to one aspect of the invention, a seabed-based positioning time service and data recovery method is provided, which comprises the following steps:
the positioning time service device sends initial position information and time service information of the underwater vehicle to an underwater navigation device;
the underwater vehicle plans a navigation route of the underwater vehicle navigating to the seabed base according to the initial position information and the predicted position information of the seabed base, and operates above the predicted position of the seabed base according to the navigation route;
the underwater vehicle positions the actual position information of the seabed base according to a positioning protocol and navigates to the position above the seabed base according to the actual position information of the seabed base;
the underwater vehicle carries out time service on the seabed base according to a time service protocol and receives observation data collected by the seabed base within a preset range;
and the underwater vehicle sends the received observation data to the positioning time service device.
Compared with the prior art, one or more embodiments in the above scheme can have the following advantages or beneficial effects:
by applying the seabed-based positioning time service and data recovery system provided by the embodiment of the invention, the underwater vehicle is used for realizing the data recovery at any time, and the problem of overlong seabed-based observation data acquisition period is solved; the acoustic positioning module is used for finding and calibrating the position deviation of the seabed base generated by the action of natural or artificial external force during the long-term seabed working, the acoustic communication module is used for calibrating the time deviation of the seabed base generated in the long-term seabed running process, and the time precision of the acquired data is ensured.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a seabed-based positioning time service and data recovery system according to an embodiment of the present invention;
FIG. 2 illustrates a schematic frame view of an underwater vehicle in a seabed-based positioning, timing and data recovery system in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a working process of a seabed-based positioning and time service and data recovery system according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating a positioning protocol step in a working process of a seabed-based positioning time service and data recovery system according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating the steps of a time service protocol in the working process of a seabed-based positioning time service and data recovery system according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating steps of a secondary seabed-based positioning time service and data recovery method according to an embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
The problems to be solved in the prior seabed foundation are as follows: the observation data acquisition period is too long, the data can be acquired only after being recovered, and the abnormal condition is difficult to find in time; the displacement gradually occurs under the action of natural or artificial external force such as seabed geological activity, deposition migration or fishery trawl and the like, and the displacement is far away from the original distribution point under the long-term action, so that the displacement is difficult to find during recovery; when the time is not provided for a long time, the acquired data can generate larger time deviation, and the validity of the data is greatly reduced.
Example one
In order to solve the above problems in the prior art, an embodiment of the present invention provides a seabed-based positioning time service and data recovery system.
FIG. 1 is a schematic structural diagram of a seabed-based positioning time service and data recovery system according to an embodiment of the present invention; referring to fig. 1, the seabed-based positioning and time service and data recovery system of the embodiment includes a positioning and time service device, an underwater vehicle and a seabed base.
The positioning time service device is used for sending initial position information and time service information of the underwater vehicle to the underwater navigation device and receiving observation data acquired by the seabed base.
Specifically, the positioning time service device is mainly used for sending initial position information of the underwater vehicle to the underwater navigation device, so that the underwater vehicle can accurately know the position of the underwater vehicle, and the underwater vehicle can conveniently plan the position of the underwater vehicle navigating to a seabed base; and meanwhile, the positioning time service device is also mainly used for sending time service information to the underwater navigation device so that the underwater vehicle can carry out time service to the seabed base based on the time service information. Preferably, the positioning and timing device is a Beidou satellite.
The underwater vehicle is used for receiving initial position information and time service information of the underwater vehicle, sailing to the position above the seabed base according to the initial position information, carrying out time service on the seabed base according to the time service information, and meanwhile, obtaining observation data collected by the seabed base.
FIG. 2 illustrates a schematic frame view of an underwater vehicle in a seabed-based positioning, timing and data recovery system in accordance with an embodiment of the present invention; referring to fig. 2, the underwater vehicle includes a microcontroller, and a Beidou positioning module, an inertial navigation module, an acoustic positioning module, and a data storage module respectively connected to the microcontroller.
Specifically, the Beidou positioning module is used for receiving initial position information of the underwater vehicle sent by the positioning and time service device and transmitting the initial position information to the microcontroller. And the microcontroller respectively sends the initial position information of the underwater vehicle to the inertial navigation module and the acoustic positioning module. The inertial navigation module calculates the real-time displacement information of the underwater vehicle according to the initial position information of the underwater vehicle and transmits the real-time displacement information of the underwater vehicle to the microcontroller. The microcontroller is used for calculating the real-time position information of the underwater vehicle according to the initial position information and the real-time displacement information of the underwater vehicle, planning a navigation route of the underwater vehicle to the seabed base according to the real-time position information and the predicted position information of the seabed base, and navigating the underwater vehicle according to the navigation route. Wherein the expected position information of the seabed base is stored in the data storage module in advance. The microcontroller also transmits the initial position information and the real-time position information of the underwater vehicle to the data storage module for storage. The acoustic positioning module is used for positioning the actual position of the seabed base according to a positioning protocol so as to obtain the actual position information of the seabed base and transmitting the actual position information of the seabed base to the microcontroller. The device is used for storing initial position information and real-time position information of the underwater vehicle, preset position information and actual position information of the seabed base, and simultaneously is also used for storing observation data acquired by the seabed base.
Referring to fig. 2, the underwater vehicle further includes a first acoustic communication module, a clock module, and a beidou communication module, which are respectively connected to the microcontroller.
Specifically, the Beidou communication module is used for receiving time service information sent by the positioning time service device, transmitting the time service information to the microcontroller and sending observation data acquired by a seabed base to the positioning time service device. The microcontroller transmits the time service information to the clock module and the data storage module respectively. And after receiving the time service information, the clock module continues to time based on the time service information to obtain the timing information. The microcontroller is also used for calculating the time service time of the first acoustic communication module for time service to the seabed base according to the time service protocol and transmitting the time service time to the first acoustic communication module. The first acoustic communication module is used for timing the seabed base according to the timing protocol and receiving observation data collected by the seabed base.
Referring to fig. 2, the underwater vehicle further comprises a power module and a power supply module respectively connected to the microcontroller.
Specifically, the power module is used for providing power for navigation of the underwater vehicle. The power supply module is used for performing voltage transformation and electric energy monitoring so as to provide electric energy for each module in the underwater vehicle.
The seabed base is used for collecting observation data in a preset range.
Specifically, the seabed base comprises a seabed base body and a second acoustic communication module; the seabed base body is used for collecting observation data in a preset range and transmitting the collected observation data to the second acoustic communication module. The second acoustic communication module is used for realizing seabed-based time service according to a time service protocol and simultaneously sending observation data to the first acoustic communication module. Preferably, the seabed base is a self-contained seabed base.
It should be noted that the system of the invention may include a plurality of seabed bases, that is, the underwater vehicle sequentially performs time service and observation data acquisition on each seabed base, and after each pair of seabed bases of the underwater vehicle performs time service, the underwater vehicle needs to return to the sea level to receive new initial position information and time service information of the underwater vehicle again.
To better explain the seabed-based positioning service and data recovery system of the present embodiment, the seabed-based positioning service and data recovery system will be further described below in terms of a specific operation mode thereof, and the setting system includes a plurality of seabed bases.
FIG. 3 is a schematic diagram illustrating a working process of a seabed-based positioning time service and data recovery system according to an embodiment of the present invention.
Z100: starting the underwater vehicle, and initializing each module in the underwater vehicle.
Specifically, a power supply module of the underwater vehicle is started, the underwater vehicle is initialized, and the power supply module comprises an initialization microcontroller, a Beidou positioning module, a Beidou communication module, an acoustic positioning module, a first acoustic communication module and an inertial navigation module, and target self-contained seabed base expected position information is initialized and stored in a data storage module.
Z200: and the Beidou satellite sends the initial position information and the time service information of the underwater vehicle to the underwater vehicle.
Z300: and starting the Beidou positioning module, receiving the initial position information of the underwater vehicle, and storing the initial position information in the data storage module.
Z400: and starting the Beidou communication module, receiving the time service information and initializing the clock module.
Z500: and the microcontroller reads the real-time position information of the underwater vehicle and the preset position information of the self-contained seabed base stored in the data storage module, and plans a navigation route.
Z600: and starting the power module and the inertial navigation module, and moving to a position above the preset position of the self-contained seabed base under the navigation of the microcontroller.
Z700: and starting an acoustic positioning module, positioning the actual position of the self-contained seabed base by using a positioning protocol, and storing the actual position in a data storage module.
Z800: judging whether the positioning is successful, if so, executing Z1000; if not, then Z900 is executed.
Z900: under the navigation of the microcontroller, move to sea level and execute Z1500.
Z1000: under the navigation of the microcontroller, the self-contained seabed base is moved to the position above the actual position P'.
Z1100: and starting the first acoustic communication module to communicate with the second acoustic communication module, and using a time service protocol to service time for the self-contained seabed basic body.
Z1200: and the self-contained seabed base body transmits the observation data to the second acoustic communication module and transmits the observation data to the underwater vehicle. The first acoustic communication module receives the observation data and stores the observation data in the data storage module.
Z1300: under the navigation of the microcontroller, move to sea level.
Z1400: the Beidou communication module is started, the microcontroller reads the observation data of the self-contained seabed basic body stored in the data storage module, transmits the observation data to the Beidou communication module and sends the observation data to the Beidou satellite.
Z1500: judging whether the last target is the self-contained seabed foundation or not, if so, executing Z1600; if not, then Z300 is executed.
Z1600: and turning off the underwater vehicle.
Specific contents of the positioning protocol are described below, and fig. 4 shows a schematic diagram of a positioning protocol step in a working process of a seabed-based positioning time service and data recovery system according to an embodiment of the present invention.
D100: positioning is started.
D200: the underwater vehicle freely moves within the range of taking the preset position of the seabed as the center of a circle and the preset distance as the radius.
D300: the positioning module periodically transmits acoustic positioning signals through the first acoustic positioning module and records real-time position information of the underwater vehicle when the acoustic positioning signals are transmitted.
D400: the positioning module judges whether the sound wave response signal fed back by the second acoustic communication module is received three times within the preset time, if the sound wave response signal is received, the step D500 is carried out, and if the sound wave response signal is not received, the step D600 is carried out.
D500: and the positioning module calculates the actual position information of the seabed base according to the time of transmitting the acoustic positioning signal for three times and receiving the corresponding sound wave response signal and the real-time position information of the underwater vehicle, and transmits the actual position information to the microcontroller.
Assuming Xi, Yi and Zi as real-time underwater vehicle position information Qi (Xi, Yi and Zi) recorded when the acoustic response signal is received for the ith time; ti1 is the current time of the underwater vehicle transmitting the sound wave positioning signal recorded when the acoustic response signal is received for the ith time; ti2 is the current time recorded when the acoustic response signal is received for the ith time; c is the speed of sound wave propagation in water, the actual position of the seabed base P' (X, Y, Z).
The formula for calculating the actual position P' (X, Y, Z) of the seabed base is as follows:
(X1-X)2+(Y1-Y)2+(Z1-Z)2＝(c(T12-T11))2(1)
(X2-X)2+(Y2-Y)2+(Z2-Z)2＝(c(T22-T21))2(2)
(X3-X)2+(Y3-Y)2+(Z3-Z)2＝(c(T32-T31))2(3)。
d600: the positioning module sends a positioning failure signal to the microcontroller.
D700: and finishing positioning.
Specific contents of the time service protocol are described below, and fig. 5 shows a schematic diagram of the steps of the time service protocol in the working process of the seabed-based positioning time service and data recovery system according to the embodiment of the present invention. To further illustrate the time service protocol, the preset number of times of signal transmission between the first acoustic communication module and the second acoustic communication module is set to be two times.
S100: and starting time service.
S200: and the underwater vehicle sends a time service starting signal to the self-contained seabed base and records the sending time T1.
S300: the second acoustic communication module receives the time service starting signal and transmits the time service starting signal to the seabed basic body, and time T2 is recorded when the seabed basic body receives the time service starting signal;
s400: the autonomous seabed base transmits a reply signal to the underwater vehicle and records the time T3.
S500: the first acoustic communication module receives the reply signal, transmits it to the microcontroller 201, and records the time T4.
S600: the times T1, T2, T3, T4 are transmitted to the microcontroller, which calculates the transmission delay time τ according to equation (4), where equation (4) is as follows:
τ＝((T4-T1)-(T3-T2))/2(4)
s700: the microcontroller reads the timing information T of the clock module, and calculates the time service time T' by combining the transmission delay time tau, and the formula is shown as the formula (5):
T’＝τ+T(5)
s800: the microcontroller transmits the time T 'to the first acoustic communication module, and the first acoustic communication module transmits the time T' to the seabed base.
S900: and the second acoustic communication module receives the time service T ' and transmits the time service T ' to the seabed base body, and the seabed base body calibrates the local time of the seabed base body according to the time service T '.
S1000: and finishing time service.
It should be noted that the group of signal transmission time data represents the sum of the time taken for the underwater vehicle body to transmit the time service starting signal to the second acoustic communication module through the first acoustic communication module and the time taken for the seabed base body to receive the time service starting signal, and the time taken for the seabed base body to transmit the response signal to the first acoustic communication module through the second acoustic communication module and the time taken for the underwater vehicle body to receive the response signal.
By applying the seabed-based positioning time service and data recovery system provided by the embodiment of the invention, the underwater vehicle is used for realizing the data recovery at any time, and the problem of overlong seabed-based observation data acquisition period is solved; the acoustic positioning module is used for finding and calibrating the position deviation of the seabed base generated by the action of natural or artificial external force during the long-term seabed working, the acoustic communication module is used for calibrating the time deviation of the seabed base generated in the long-term seabed running process, and the time precision of the acquired data is ensured.
Example two
In order to solve the above problems in the prior art, an embodiment of the present invention provides a seabed-based positioning time service and data recovery system.
FIG. 6 is a schematic diagram illustrating steps of a secondary seabed-based positioning time service and data recovery method according to an embodiment of the present invention. Refer to FIG. 6
And step C100, the positioning time service device sends the initial position information and the time service information of the underwater vehicle to the underwater navigation device.
And step C200, planning a navigation route from the underwater vehicle to the seabed base according to the initial position information and the predicted position information of the seabed base, and operating above the predicted position of the seabed base according to the navigation route.
And step C300, the underwater vehicle positions the actual position information of the seabed base according to the positioning protocol and navigates to the position above the seabed base according to the actual position information of the seabed base.
And step C400, the underwater vehicle carries out time service on the seabed base according to the time service protocol and receives observation data collected by the seabed base within a preset range.
And step C500, the underwater vehicle sends the received observation data to the positioning time service device.
By applying the seabed-based positioning time service and data recovery system provided by the embodiment of the invention, the underwater vehicle is used for realizing the data recovery at any time, and the problem of overlong seabed-based observation data acquisition period is solved; the acoustic positioning module is used for finding and calibrating the position deviation of the seabed base generated by the action of natural or artificial external force during the long-term seabed working, the acoustic communication module is used for calibrating the time deviation of the seabed base generated in the long-term seabed running process, and the time precision of the acquired data is ensured.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A seabed-based positioning time service and data recovery system is characterized by comprising: the device comprises a positioning time service device, an underwater vehicle and a seabed base;
the positioning time service device is used for sending initial position information and time service information of the underwater vehicle to the underwater navigation device and receiving observation data acquired by the seabed base;
the underwater vehicle is used for receiving initial position information and time service information of the underwater vehicle, sailing to the position above the seabed base according to the initial position information, carrying out time service on each seabed base according to the time service information, and meanwhile, obtaining observation data collected by the seabed base;
the seabed base is used for collecting observation data in a preset range and comprises a second acoustic communication module;
the underwater vehicle comprises a microcontroller and an acoustic positioning module connected with the microcontroller;
the acoustic positioning module is used for positioning the actual position of the seabed base according to a positioning protocol so as to obtain the actual position information of the seabed base and transmitting the actual position information to the microcontroller;
wherein the positioning protocol comprises:
the underwater vehicle freely moves within a range with the preset distance as a radius by taking the preset position of the seabed as a circle center;
the positioning module periodically transmits an acoustic positioning signal and records real-time position information of the underwater vehicle when the acoustic positioning signal is transmitted;
and judging whether the sound wave response signal fed back by the seabed base is received for three times within preset time, if so, calculating the actual position information of the seabed base according to the time corresponding to the sound wave response signal received for three times and the real-time position information of the underwater vehicle, and transmitting the actual position information to the microcontroller, otherwise, sending a positioning failure signal to the microcontroller.
2. The system of claim 1, wherein said underwater vehicle further comprises a Beidou positioning module, an inertial navigation module, and a data storage module, each connected to said microcontroller;
the Beidou positioning module is used for receiving the initial position information of the underwater vehicle sent by the positioning and time service device and transmitting the initial position information to the microcontroller;
the inertial navigation module is used for calculating real-time displacement information of the underwater vehicle according to the initial position information in the microcontroller and transmitting the real-time displacement information to the microcontroller;
the microcontroller is used for calculating real-time position information of the underwater vehicle according to the initial position information and the real-time displacement information, and planning a navigation route of the underwater vehicle navigating to the seabed base according to the real-time position information and the predicted position information of the seabed base;
the data storage module is used for storing initial position information and real-time position information of the underwater vehicle, preset position information and actual position information of the seabed base, and simultaneously is also used for storing observation data acquired by the seabed base.
3. The system of claim 2, wherein the underwater vehicle further comprises a first acoustic communication module, a clock module, and a Beidou communication module, each connected to the microcontroller;
the Beidou communication module is used for receiving the time service information sent by the positioning time service device, transmitting the time service information to the microcontroller and sending observation data acquired by the seabed base to the positioning time service device;
the clock module is used for reading the time service information in the microcontroller and continuing timing based on the time service information to obtain timing information;
the microcontroller is also used for calculating the time service time of the first acoustic communication module for service to the seabed base according to a time service protocol and transmitting the time service time to the first acoustic communication module;
the first acoustic communication module is used for carrying out time service on the seabed base according to the time service protocol and receiving observation data collected by the seabed base.
4. The system of claim 3, wherein the time service protocol is:
the first acoustic communication module and the second acoustic communication module perform signal transmission for preset times to obtain multiple groups of signal transmission time data, and the multiple groups of signal transmission time data are transmitted to the microcontroller;
the microcontroller processes a plurality of groups of time data for signal transmission to obtain transmission delay time for signal transmission of the first acoustic communication module and the second acoustic communication module, calculates time service time according to the transmission delay time and timing information read by the microcontroller from the clock module, and transmits the time service time to the first acoustic communication module;
the first acoustic communication module sends the time service to the second acoustic communication module;
and the second acoustic communication module transmits the time service time to the seabed base body, and the seabed base body calibrates the local time of the seabed base body according to the time service time.
5. The system of claim 2, wherein said underwater vehicle further comprises a power module and said power module connected to said microcontroller;
the power module is used for providing power for the underwater vehicle;
the power supply module is used for providing electric power for the underwater vehicle.
6. The system of claim 3, wherein the seabed base further comprises a seabed base body;
the seabed base body is used for collecting observation data in a preset range and transmitting the collected observation data to the second acoustic communication module;
and the second acoustic communication module is used for realizing the seabed-based time service according to the time service protocol and simultaneously sending the observation data to the first acoustic communication module.
7. A system according to any one of claims 1 to 6, wherein the positioning time service device comprises a Beidou satellite.
8. The system of any one of claims 1-6, wherein the seabed base comprises a self-contained seabed base.
9. A seabed-based positioning time service and data recovery method comprises the following steps:
the positioning time service device sends initial position information and time service information of the underwater vehicle to an underwater navigation device;
the underwater vehicle plans a navigation route of the underwater vehicle navigating to the seabed base according to the initial position information and the predicted position information of the seabed base, and operates above the predicted position of the seabed base according to the navigation route;
the underwater vehicle positions the actual position information of the seabed base according to a positioning protocol and navigates to the position above the seabed base according to the actual position information of the seabed base;
the underwater vehicle carries out time service on the seabed base according to a time service protocol and receives observation data collected by the seabed base within a preset range;
the underwater vehicle sends the received observation data to the positioning time service device;
the underwater vehicle comprises a microcontroller and an acoustic positioning module connected with the microcontroller;
the acoustic positioning module is used for positioning the actual position of the seabed base according to a positioning protocol so as to obtain the actual position information of the seabed base and transmitting the actual position information to the microcontroller;
wherein the positioning protocol comprises:
the underwater vehicle freely moves within a range with the preset distance as a radius by taking the preset position of the seabed as a circle center;
the positioning module periodically transmits an acoustic positioning signal and records real-time position information of the underwater vehicle when the acoustic positioning signal is transmitted;
and judging whether the sound wave response signal fed back by the seabed base is received for three times within preset time, if so, calculating the actual position information of the seabed base according to the time corresponding to the sound wave response signal received for three times and the real-time position information of the underwater vehicle, and transmitting the actual position information to the microcontroller, otherwise, sending a positioning failure signal to the microcontroller.
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